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<h1>can_isr.c</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">/* </span>
<a name="l00019"></a>00019 <span class="comment">  BASIC INTERRUPT DRIVEN DRIVER FOR CAN BUS. </span>
<a name="l00020"></a>00020 <span class="comment"></span>
<a name="l00021"></a>00021 <span class="comment">  This file contains all the usb components that must be compiled</span>
<a name="l00022"></a>00022 <span class="comment">  to ARM mode.  The components that can be compiled to either ARM or THUMB</span>
<a name="l00023"></a>00023 <span class="comment">  mode are contained in can.c</span>
<a name="l00024"></a>00024 <span class="comment"></span>
<a name="l00025"></a>00025 <span class="comment">*/</span>
<a name="l00026"></a>00026 
<a name="l00027"></a>00027 <span class="comment">/* Scheduler includes. */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#include "FreeRTOS.h"</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include "task.h"</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include "queue.h"</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "semphr.h"</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="comment">/* Demo application includes. */</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "Board.h"</span>
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="preprocessor">#include "can_internal.h"</span>
<a name="l00037"></a>00037 
<a name="l00038"></a>00038 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00039"></a>00039 
<a name="l00040"></a>00040 <span class="keyword">extern</span> <span class="keyword">struct </span>Can_ Can;
<a name="l00041"></a>00041 
<a name="l00042"></a>00042 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 <span class="comment">/* The interrupt entry point is naked so we can control the context saving. */</span>
<a name="l00045"></a>00045 <span class="keywordtype">void</span> CanIsr_Wrapper( <span class="keywordtype">void</span> ) __attribute__ ((naked));
<a name="l00046"></a>00046 
<a name="l00047"></a>00047 <span class="comment">/* The interrupt handler function must be separate from the entry function</span>
<a name="l00048"></a>00048 <span class="comment">to ensure the correct stack frame is set up. */</span>
<a name="l00049"></a>00049 <span class="keywordtype">void</span> CanIsr_Handler( <span class="keywordtype">void</span> );
<a name="l00050"></a>00050 
<a name="l00051"></a>00051 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00052"></a>00052 
<a name="l00053"></a>00053 
<a name="l00054"></a>00054 <span class="keywordtype">void</span> CanIsr_Handler( <span class="keywordtype">void</span> )
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056   portBASE_TYPE xSwitchRequired = pdFALSE;
<a name="l00057"></a>00057 
<a name="l00058"></a>00058   <span class="comment">// int status = AT91C_BASE_CAN-&gt;CAN_SR;</span>
<a name="l00059"></a>00059 <span class="comment">/*</span>
<a name="l00060"></a>00060 <span class="comment">  if ( status &amp; AT91C_ADC_DRDY )</span>
<a name="l00061"></a>00061 <span class="comment">    cTaskWokenByPost = xSemaphoreGiveFromISR( Can.doneSemaphore, cTaskWokenByPost );</span>
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment">  int value = AT91C_BASE_ADC-&gt;ADC_LCDR;</span>
<a name="l00064"></a>00064 <span class="comment">  (void)value;</span>
<a name="l00065"></a>00065 <span class="comment">*/</span>
<a name="l00066"></a>00066   <span class="comment">/* Clear AIC to complete ISR processing */</span>
<a name="l00067"></a>00067   AT91C_BASE_AIC-&gt;AIC_EOICR = 0;
<a name="l00068"></a>00068 
<a name="l00069"></a>00069   <span class="comment">/* If a task was woken by either a frame being received then we may need to </span>
<a name="l00070"></a>00070 <span class="comment">  switch to another task.  If the unblocked task was of higher priority then</span>
<a name="l00071"></a>00071 <span class="comment">  the interrupted task it will then execute immediately that the ISR</span>
<a name="l00072"></a>00072 <span class="comment">  completes. */</span>
<a name="l00073"></a>00073   <span class="keywordflow">if</span>( xSwitchRequired )
<a name="l00074"></a>00074   {
<a name="l00075"></a>00075     portYIELD_FROM_ISR();
<a name="l00076"></a>00076   }
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078 
<a name="l00079"></a>00079 <span class="keywordtype">void</span>  CanIsr_Wrapper( <span class="keywordtype">void</span> )
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081   <span class="comment">/* Save the context of the interrupted task. */</span>
<a name="l00082"></a>00082   portSAVE_CONTEXT();
<a name="l00083"></a>00083 
<a name="l00084"></a>00084   <span class="comment">/* Call the handler to do the work.  This must be a separate</span>
<a name="l00085"></a>00085 <span class="comment">  function to ensure the stack frame is set up correctly. */</span>
<a name="l00086"></a>00086   CanIsr_Handler();
<a name="l00087"></a>00087 
<a name="l00088"></a>00088   <span class="comment">/* Restore the context of whichever task will execute next. */</span>
<a name="l00089"></a>00089   portRESTORE_CONTEXT();
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091 
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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